apparatus for drive and brake control of vehicles, equipped with a plurality of single wheel drive and brake modules

摘要

The invention relates to a method for drive control and brake control of vehicles which are equipped with a plurality of single-wheel drive and brake modules which intervene in the control function of the wheels. In this process, the power flux is to be better utilised and slip/stick effects are to be prevented and the control function is to be supported. According to the invention, the individual EAB modules are coupled to one another at the level of the vehicle in pairs in terms of control technology and means are provided of changing the degree of coupling. In a specific embodiment, modules which are respectively assigned to the left-hand and right-hand wheels form a pair, each individual module of which has a separate torque control circuit. A permissible instantaneous set value is output via estimation elements and a first minimum value stage. A minimum instantaneous set value which is common to both control circuits of the right-hand and left-hand modules is formed via a second minimum value stage. Additional instantaneous set values are produced which compensate faults in the lateral forces. Further methods of executing slip control are described.